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Communication Dans Un Congrès Année : 2011

Multi-physics model of an electric fish-like robot : numerical aspects and application to obstacle avoidance

Résumé

The paper deals with the modeling of a fish- like robot equipped with the electric sense, suited to study sensorimotor loops. The proposed multi-physics model merges a swimming dynamic model of a fish-like robot with an electric model of an embedded electrolocation sensor. Based on a TCP- IP and threaded framework, the resulting simulator works in real time. After presenting the modeling aspects of this work, this article focuses on two numerical studies. In the first, the in- teractions between body deformations and perception variables are studied and a current correction process is proposed. In the second study, an electric exteroceptive feedback loop based on a direct current measurement method is designed and tested for obstacle avoidance.
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Dates et versions

hal-00630762 , version 1 (11-10-2011)

Identifiants

  • HAL Id : hal-00630762 , version 1

Citer

Mathieu Porez, Vincent Lebastard, Auke Jan Ijspeert, Frédéric Boyer. Multi-physics model of an electric fish-like robot : numerical aspects and application to obstacle avoidance. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San-Francisco, United States. pp.1-6. ⟨hal-00630762⟩
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